Panasonic MINAS A6 Multi Series Technical Reference page 145

5.2Manual adjusting function
5.2.17 Two-degree-of-freedom control mode (with velocity control)
The two-degree-of-freedom control mode is an extended function of velocity control mode to improve
the responsiveness by making it possible to independently set the command response and servo rigidity.
Only the standard type of two-degree-of-freedom control is available.
Applicable range
This function is unable to be applied unless the following conditions are satisfied.
Conditions in which two-degree-of-freedom control mode is activated:
 Velocity control
Control Mode
 Real-time auto tuning selection is two-degree-of-freedom control mode standard type.
Others
In the case of the Synchronization s type, Err88.1"Control mode setting error protection" occurs.
 To be in the servo ON state.
 Elements other than control parameters, such as torque limit, etc. are properly set and the motor is free of obstacle
to normal motor rotation.
Relevant parameters
First of all, set Pr6.47 "Function expansion setup 2": bit0 to 1 and write in EEPROM; then, reset the
control power supply to enable the two-degree-of-freedom control mode.
Thereafter, adjust the relevant parameters by Real-time auto tuning.
See "5.1.3 Real-time auto tuning (Two-degree-of-freedom control mode standard type) "
Only when further improvement is required, manually finely adjust the following parameters while
confirming responses.
 Relevant parameters
Class No. Attribute Title
6 47 R
2 22 B
6 48 B
5-61
Range
Function -32768 to
expansion setup 2 32767
Command 0 to 10000
smoothing filter
Adjust filter 0 to 2000
Unit Function
- Various functions are set in bit units.
bit0: two-degree-of-freedom mode
0: Invalid
1: Valid
bit3: Selection of real-time auto-tuning of
two-degree-of-freedom control
0: Standard type
1: Synchronization type
The least significant bit is set to bit0.
0.1ms At the time of the two-degree-of-freedom control, the time
constant of command response filter is used.
 The maximum value is restricted to 640 (=64.0 ms).
 Making this parameter smaller can quicken the command
response, whereas making it larger can slow the
command response.
The parameter value itself is not restricted but the applied
value inside the driver module is restricted.
0.1ms To set the time constant of adjustment filter.
 When the torque filter setting is changed, set the
adjustment filter to a near value while referring to setting
of Real-time auto tuning.
 At the time of speed control mode, the maximum value is
restricted to 640 (=64.0 ms).
The parameter value itself is not restricted but the applied
value inside the driver module is restricted.